Update LSLiDAR driver and AGV configs

1. LSLiDAR driver:
 - Fixed packet header check in serial parser
 - Updated angle compensation for M10 series
 - Fixed angle discontinuity bug
 - Added optional PointCloud2 publishing
 - Added optional LaserScan publishing
 - Added support for ROS 2 Humble
 - Added support for dual-echo LiDARs
 - Added TXT-based config loading

2. RViz:
 - Updated gmapping.rviz file for SLAM display

3. AGV bringup:
 - Modified launch file for LSN10P integration

Lslidar_ROS2_driver/lslidar_driver/launch/lslidar_double_launch.py

@@ -1,50 +0,0 @@
-#!/usr/bin/python3
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import LifecycleNode
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-
-import lifecycle_msgs.msg
-import os
-
-def generate_launch_description():
-
-    driver_dir_1 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10_1.yaml')
-    driver_dir_2 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10_2.yaml')
-                     
-    driver_node_1 = LifecycleNode(package='lslidar_driver',
-                                executable='lslidar_driver_node',
-                                name='lslidar_driver_node',		#设置激光数据topic名称
-                                output='screen',
-                                emulate_tty=True,
-                                namespace='lidar_1',
-                                parameters=[driver_dir_1],
-                                )
-
-    driver_node_2 = LifecycleNode(package='lslidar_driver',
-                                executable='lslidar_driver_node',
-                                name='lslidar_driver_node',		#设置激光数据topic名称
-                                output='screen',
-                                emulate_tty=True,
-                                namespace='lidar_2',
-                                parameters=[driver_dir_2],
-                                )
-
-    rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
-
-    rviz_node = Node(
-        package='rviz2',
-        namespace='',
-        executable='rviz2',
-        name='rviz2',
-        arguments=['-d', rviz_dir],
-        output='screen')
-
-    return LaunchDescription([
-        driver_node_1,
-        driver_node_2,
-        rviz_node,
-    ])
-

Lslidar_ROS2_driver/lslidar_driver/launch/lsn10p_launch.py

@@ -11,7 +11,7 @@ import os
 
 def generate_launch_description():
 
-    driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
+    driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params','lidar_uart_ros2', 'lsn10p.yaml')
                      
     driver_node = LifecycleNode(package='lslidar_driver',
                                 executable='lslidar_driver_node',
@@ -23,6 +23,6 @@ def generate_launch_description():
                                 )
 
     return LaunchDescription([
-        driver_node
+        driver_node,
     ])
 

Lslidar_ROS2_driver/lslidar_driver/launch/viewer_scan_launch.py

@@ -0,0 +1,26 @@
+#!/usr/bin/python3
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+
+import lifecycle_msgs.msg
+import os
+
+def generate_launch_description():
+
+    rviz2_config = os.path.join(get_package_share_directory('lslidar_driver'),'rviz','lslidar.rviz')
+      
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d',rviz2_config],
+        output='screen')                                               
+
+    return LaunchDescription([
+        rviz2_node,
+    ])
+